Variable Logic Gate Mechanism with an AND ⇄ OR Meta-Switch and its Application for Grippers
Kenjiro Tadakuma, Ryotaro Kayawake, Josephine Galipon, Issei Onda, Kazuki Abe, Masahiro WATANABE, Tetsuyou Watanabe, Satoshı Tadokoro · 2024
Embodying intelligence in soft robots requires the design of logic circuits that do not rely on electrical components. Previous research has shown that it is possible to achieve logic gates that rely solely on rigid or even soft mechanical parts. Here, we present a purely mechanical system that can reversibly switch between two mechanical configurations of the logic gates AND and OR upon triggering by a meta-input. In addition, we present the first gripper with such a variable logic gate. Since the whole mechanism is mechanical, including the meta-input, this is a new breakthrough for robotics applications in environments where electrical circuits are unsuitable.